An underwater robot seawater sampling device and method

Abstract

The present invention relates to the technical field of seawater sampling, and discloses an underwater robot seawater sampling device and method. Among them, an underwater robot seawater sampling device includes an outer frame assembly. A sampling mechanism is arranged inside the outer frame assembly. The sampling mechanism includes a main driving component, a driving component, an adjusting component and a sampling cylinder. The sampling cylinder is arranged at the bottom of the main driving component. The adjusting component is arranged at the bottom outside the sampling cylinder. The driving component is connected to the bottom of the adjusting component. When the main driving component drives the sampling cylinder to descend to a specified depth, the adjusting component is started to change the bottom of the sampling cylinder from a sealed state to a sampling state to perform seawater sampling at the specified depth; by setting multiple groups of sampling structures, seawater at different depths is sampled and sealed separately. When moving to a certain specified depth, one of the sampling mechanisms is opened for sampling. When moving to the next specified depth, another unused sampling mechanism is opened for sampling.

Description

Technical Field

[0001] The present invention relates to the technical field of seawater sampling, and more specifically, it relates to an underwater robot seawater sampling device and method. Background Art

[0002] Underwater robot seawater sampling devices are crucial tools in the fields of marine scientific research and underwater exploration. They are used to collect seawater samples in the marine environment. Seawater samples are collected through collection tools (such as sampling cylinders) and stored inside the device or transmitted to a ground station for analysis.

[0003] In the case of existing seawater sampling robots, during the descent process, due to insufficient sealing of the sampling cylinder, seawater at different depths may enter, resulting in the final seawater sample not being able to represent the seawater quality at a certain fixed depth. When it is necessary to observe seawater samples at a specified depth, such a sampling method is inconvenient.

[0004] Therefore, the present invention provides an underwater robot seawater sampling device and method. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0006] The present invention provides an underwater robot seawater sampling device, including an outer frame assembly. A sampling mechanism is arranged inside the outer frame assembly. The sampling mechanism includes a main drive assembly, a driving assembly, an adjustment assembly, and a sampling cylinder. The sampling cylinder is arranged at the bottom of the main drive assembly. The adjustment assembly is arranged at the bottom outside the sampling cylinder. The bottom of the adjustment assembly is connected to the driving assembly. When the main drive assembly drives the sampling cylinder to descend to a specified depth, the adjustment assembly is started to change the bottom of the sampling cylinder from a sealed state to a sampling state for seawater sampling at the specified depth.

[0007] Preferably, the outer frame assembly includes an outer frame. An outer frame body is fixedly connected to the inside of the outer frame. Balanced traction ropes are fixedly connected to the circumference of the top of the outer frame body at equal intervals. The top of the balanced traction ropes is fixedly connected to a main traction rope. A bracket is fixedly connected to the inside of the outer frame body. A fixed seat is fixedly connected to the inside of the bracket of the outer frame body. The sampling mechanism is installed inside the fixed seat. Baffles are fixedly connected to the circumference of the bottom of the outer frame body at equal intervals. The outer frame and the outer frame body are fixedly connected by arc plates. A depth sensor is installed at the top of the outer frame.

[0008] Preferably, the main drive assembly includes a propeller blade, the bottom of the propeller blade is connected with a first motor, the output shaft of the first motor is fixedly connected with the top of the propeller blade, the outside of the first motor is rotatably connected with a protective outer box, and the protective outer box is fixedly connected to the inside of the fixed seat.

[0009] Preferably, the bottom of the sampling cylinder is open, the adjusting assembly seals the bottom of the sampling cylinder, the top of the sampling cylinder is fixedly connected to the bottom of the protective outer box, and the outside of the sampling cylinder is fixedly connected to the inside of the fixed seat.

[0010] Preferably, the adjusting assembly includes an upper cover, the upper cover is fixedly sleeved on the outside of the sampling cylinder, a limiting assembly is rotatably arranged at the bottom of the upper cover, an opening and closing drive assembly is arranged inside the upper cover, arc-shaped linkage blocks are arranged around the bottom of the limiting assembly, a sealing assembly is arranged at the bottom of the arc-shaped linkage block, and a first limiting ring is fixedly connected to the bottom of the sampling cylinder.

[0011] Preferably, the limiting assembly includes a sealing ring, the sealing ring is rotatably connected to the outside of the sampling cylinder, a toothed ring is fixedly connected to the top of the sealing ring, a convex limiting rod is rotatably connected to the top of the arc-shaped linkage block close to one side of the sealing ring, fixing grooves are formed at the joints of the toothed ring and the sealing ring with the convex limiting rod, and the top of the toothed ring is rotatably connected to the bottom of the upper cover.

[0012] Preferably, the sealing assembly includes a sealing plate, two sides of the sealing plate far away from the center of the first limiting ring are respectively fixedly connected with a first limiting shaft and a second limiting shaft, the second limiting shaft is rotatably connected with the arc-shaped linkage block, the first limiting shaft is rotatably connected with the first limiting ring, and a special-shaped convex block is fixedly connected to the bottom of the sealing plate.

[0013] Preferably, the opening and closing drive assembly includes a second motor, the output shaft of the second motor is fixedly connected with a gear, the top of the second motor is fixedly connected to the inner top wall of the upper cover, and the outer teeth of the second motor are meshed with the inner teeth of the toothed ring.

[0014] Preferably, the driving assembly includes a C-shaped rod, the top of one end of the C-shaped rod is fixedly connected with a mounting base, the other end of the C-shaped rod is fixedly connected to the bottom of the sealing plate far away from the center of the first limiting ring, a rotating central axis is rotatably connected to the top of the mounting base, and metal bent plates are fixedly connected to the circumference of the rotating central axis at equal intervals.

[0015] By adopting the above technical solution, the metal bent plate repeatedly rotates and impacts the baffle to continuously interfere with the surrounding sound, and the metal itself vibrates during the process of the metal bent plate restoring its deformation. Therefore, noise will be generated during the rotation impact and shape restoration process to drive away the fish schools located around the device.

[0016] On the other hand, the present application also provides an underwater robot seawater sampling method, including the following steps:

[0017] S1. Control the sampling cylinder to descend: The main drive assembly cooperates with the equal release of the main towing rope to extend the length of the main towing rope, thereby gradually increasing the depth of this device in the sea;

[0018] S2. Determine the depth value: Determine whether the descending depth value is the same as the expected value through the cooperation of the depth sensor and the control system;

[0019] S3. Sampling: Start the opening and closing drive assembly to drive the convex limiting rod to rotate, so that the five sealing plates and five special-shaped convex blocks that are tightly fitted and sealed at the bottom of the first limiting ring in the sealed state gradually open to become the sampling state, and seawater sampling is carried out;

[0020] S4. Stop sampling: Reverse-start the opening and closing drive assembly to drive the convex limiting rod to rotate to make the sealing assembly seal the bottom of the sampling cylinder again, then move to the next specified depth, and then repeat S1 until seawater samples at all specified depths are collected;

[0021] S5. Sampling: Pull up the main towing rope to pull out the device, place this device on top of the sampling and analysis container, and then convert the adjustment assembly to make the sampling cylinder become the sampling state, discharge the seawater sample and conduct data analysis.

[0022] The beneficial effects of the present invention are as follows: For the underwater robot seawater sampling device and method of the present invention, by setting multiple groups of sampling structures, seawater at different depths is sampled and sealed separately. When moving to a certain specified depth, one of the sampling mechanisms is opened for sampling, and when moving to the next specified depth, another unused sampling mechanism is opened for sampling. Among them, by setting an adjustment assembly, in the sealed state, the five sealing plates are closely attached to each other in pairs to form a disc shape. At this time, the bottom of the first limiting ring is sealed, that is, the bottom of the sampling cylinder is sealed, to prevent seawater at other depths from entering the inner side of the sampling cylinder when the sampling cylinder, the driving component, and the adjustment component descend as a whole, resulting in inaccurate sample values, ensuring the collection of seawater at the specified depth, and improving the accuracy of sampling.

[0023] An underwater robot seawater sampling device and method according to the present invention are provided with a sealing assembly. When the sealing assembly is in a sealed state, five special-shaped bumps are closely attached to each other in pairs to form a conical shape, which can reduce the water flow resistance when the sampling cylinder, the driving assembly, and the adjusting assembly descend as a whole. When the sealing assembly is in a sampling state, when the special-shaped bumps flip with the sealing plate, part of the water flow located outside the bottom of the special-shaped bumps will be pushed away, and the water flow direction is towards the bottom outside, so that some of the lighter floating objects and waterweeds are carried away by the water flow, reducing the content of floating objects entering the inner side of the sampling cylinder, and avoiding the floating objects adhering to the inner wall of the corrugated transmission pipe when the seawater sample in the sampling cylinder is pumped by the water suction pipe, resulting in blockage during subsequent seawater sampling.

[0024] An underwater robot seawater sampling device and method according to the present invention are provided with a driving assembly. The metal bending plate is relatively thin, and it will deform within the elastic range when it is impacted, and return to its original shape when the impact force of the baffle is lost, so as to ensure that the baffle is continuously rotated and impacted to continuously interfere with the surrounding by sound. Since the metal itself generates vibration during the recovery process, noise will be generated during the process of rotating impact and restoring shape to drive away the fish schools located around the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the top view of the overall structure of the present invention;

[0026] Figure 2 is the bottom view of the overall structure of the present invention;

[0027] Figure 3 is the schematic cross-sectional view of the outer frame assembly in the present invention;

[0028] Figure 4 is the schematic cross-sectional view of the sampling cylinder and the adjusting assembly in the present invention;

[0029] Figure 5 is Figure 4 the partial enlarged view at A in;

[0030] Figure 6 is the schematic view of the main driving assembly and the driving assembly in the present invention;

[0031] Figure 7 is the schematic view of the adjusting assembly in an open state and the sampling cylinder in a sampling state in the present invention.

[0032] Figure 8 is the schematic view of the sealing assembly and the limiting assembly in the present invention.

[0033] In the figure:

[0034] 1. Outer frame assembly; 101. Main traction rope; 102. Balanced traction rope; 103. Outer frame body; 104. Baffle; 105. Fixed seat; 106. Outer frame; 2. Main drive assembly; 201. Propeller blade; 202. First motor; 203. Protective outer box; 3. Driving assembly; 301. Rotating central axis; 302. Metal bent plate; 303. Mounting base; 304. C-shaped rod; 4. Adjusting assembly; 401. Sealing assembly; 4011. Sealing plate; 4012. Special-shaped convex block; 4013. First limiting shaft; 4014. Second limiting shaft; 402. First limiting ring; 403. Arc linkage block; 404. Limiting assembly; 4041. Sealing ring; 4042. Gear ring; 4043. Convex limiting rod; 405. Opening and closing drive assembly; 4051. Second motor; 4052. Gear; 406. Upper sealing cover; 5. Sampling cylinder; 6. Depth sensor. Detailed implementation manners

[0035] Now, the subject matter described herein will be discussed with reference to example embodiments. It should be understood that discussing these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the scope of protection of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. Additionally, the features described relative to some examples can also be combined in other examples.

[0036] The technical solution of the present invention will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments. Please refer to Figures 1 to 8 An underwater robot seawater sampling device provided by this application. Please focus on referring to Figure 1 and Figure 2 , which includes an outer frame assembly 1. A sampling mechanism is arranged inside the outer frame assembly 1. The sampling mechanism includes a main drive assembly 2, a driving assembly 3, an adjusting assembly 4, and a sampling cylinder 5. The sampling cylinder 5 is arranged at the bottom of the main drive assembly 2. The adjusting assembly 4 is arranged at the bottom outside the sampling cylinder 5. The bottom of the adjusting assembly 4 is connected to the driving assembly 3. When the main drive assembly 2 drives the sampling cylinder 5 to descend to a specified depth, the adjusting assembly 4 is started to change the bottom of the sampling cylinder 5 from a sealed state to a sampling state for seawater sampling at the specified depth.

[0037] Specifically, multiple groups of sampling mechanisms are provided, which can separately sample and seal seawater at different depths. When moving to a certain specified depth, one of the sampling mechanisms is opened for sampling. When moving to the next specified depth, another unused sampling mechanism is opened for sampling.

[0038] Please focus on referring to Figure 3, the outer frame assembly 1 includes an outer frame 106. An outer frame main body 103 is fixedly connected to the inner side of the outer frame 106. Equally spaced circumferentially at the top of the outer frame main body 103 are fixedly connected balance traction ropes 102. The top of the balance traction ropes 102 is fixedly connected to a main traction rope 101. A bracket is fixedly connected to the inner side of the outer frame main body 103. A fixing seat 105 is fixedly connected to the inner side of the bracket of the outer frame main body 103. A sampling mechanism is installed inside the fixing seat 105. Equally spaced circumferentially at the bottom of the outer frame main body 103 are fixedly connected baffles 104. The outer frame 106 and the outer frame main body 103 are fixedly connected by arc plates. A depth sensor 6 is installed at the top of the outer frame 106.

[0039] Specifically, this device is arranged on the side of the ship close to the sea surface. The top of the main traction rope 101 is wound in a roll on the ship. It cooperates with the main drive assembly 2 to release the main traction rope 101 in equal amounts to extend the length of the main traction rope 101, thereby gradually increasing the depth of this device in the sea. The balance traction ropes 102 are equally spaced on the top of the outer frame 106 and have the same length, which can ensure stable downward movement of the outer frame 106 when it moves downward. The depth sensor 6 is used to detect the depth at which the device is located; such as Figure 2 , Figure 3 , there is a gap between the outer frame main body 103 and the fixing seat 105. The distribution range of the brackets of the outer frame main body 103 is small and is only used to connect the outer frame main body 103 and the fixing seat 105. Water flow can still flow from between the outer frame main body 103 and the fixing seat 105 to the driving assembly 3.

[0040] Please refer specifically to Figure 1 , Figure 2 , the main drive assembly 2 includes a propeller blade 201. The bottom of the propeller blade 201 is connected to a first motor 202. The output shaft of the first motor 202 is fixedly connected to the top of the propeller blade 201. The outside of the first motor 202 is rotatably connected to a protective outer box 203. The protective outer box 203 is fixedly connected to the inside of the fixing seat 105.

[0041] Specifically, a main drive assembly 2 is provided at the top of each sampling cylinder 5, making the sampling mechanism move downward more stably. The protective outer box 203 protects the first motor 202 and a sealing ring is provided at the connection between the protective outer box 203 and the output shaft of the first motor 202 to improve the protection effect; starting the first motor 202 drives the propeller blade 201 to rotate and drives this device to move downward in the sea water.

[0042] Please refer specifically to Figure 2 , Figure 4 , the bottom of the sampling cylinder 5 is open. The adjusting assembly 4 seals the bottom of the sampling cylinder 5. The top of the sampling cylinder 5 is fixedly connected to the bottom of the protective outer box 203. The outside of the sampling cylinder 5 is fixedly connected to the inside of the fixing seat 105.

[0043] Please refer specifically to Figure 4, Figure 5 , Figure 7 , The adjustment component 4 includes an upper cover 406 which is fixedly sleeved on the outside of the sampling cylinder 5. A limiting component 404 is rotatably arranged at the bottom of the upper cover 406. An opening and closing driving component 405 is arranged inside the upper cover 406. Arc-shaped linkage blocks 403 are arranged around the bottom of the limiting component 404. A sealing component 401 is arranged at the bottom of the arc-shaped linkage block 403. A first limiting ring 402 is fixedly connected to the bottom of the sampling cylinder 5.

[0044] Please refer to Figure 5 , Figure 7 , The limiting component 404 includes a sealing ring 4041 which is rotatably connected to the outside of the sampling cylinder 5. A gear ring 4042 is fixedly connected to the top of the sealing ring 4041. A convex limiting rod 4043 is rotatably connected to the top of the arc-shaped linkage block 403 close to the sealing ring 4041. Fixing grooves are provided at the joints of the gear ring 4042 and the sealing ring 4041 with the convex limiting rod 4043. The top of the gear ring 4042 is rotatably connected to the bottom of the upper cover 406.

[0045] Specifically, the convex limiting rod 4043 is jointly limited by the gear ring 4042 and the sealing ring 4041. That is, when the gear ring 4042 rotates, it drives the sealing ring 4041 to rotate synchronously, and then drives the convex limiting rod 4043 to rotate. And the outer side of the bottom of the convex limiting rod 4043 is rotatably connected to the arc-shaped linkage block 403. Therefore, the joint of the arc-shaped linkage block 403 and the convex limiting rod 4043 will shift with the rotation of the sealing ring 4041.

[0046] Please refer to Figure 7 , The sealing component 401 includes a sealing plate 4011. First limiting shafts 4013 and second limiting shafts 4014 are respectively fixedly connected to the two sides of the sealing plate 4011 away from the center of the first limiting ring 402. The second limiting shaft 4014 is rotatably connected to the arc-shaped linkage block 403. The first limiting shaft 4013 is rotatably connected to the first limiting ring 402. An irregular convex block 4012 is fixedly connected to the bottom of the sealing plate 4011.

[0047] Specifically, in the sealed state, as shown in Figure 2 and Figure 4 , the five sealing plates 4011 are closely attached to each other in pairs to form a disc shape, and the five irregular convex blocks 4012 are closely attached to each other in pairs to form a conical shape. At this time, the bottom of the first limiting ring 402 is sealed, that is, the bottom of the sampling cylinder 5 is sealed, preventing seawater at other depths from entering the inside of the sampling cylinder 5 when the sampling cylinder 5, the driving component 3, and the adjustment component 4 descend as a whole, resulting in inaccurate sample values, ensuring that seawater at a specified depth is taken, and improving the accuracy of sampling; Since the length of the arc-shaped linkage block 403 is fixed, it will cause the sealing plate 4011 to rotate around the first limiting shaft 4013, as shown inFigure 6 and Figure 7 As shown, when the five sealing plates 4011 and the five special-shaped bumps 4012 that tightly fit and seal the bottom of the first limiting ring 402 in the sealed state gradually open to become the sampling state, when the five sealing components 401 rotate away from the center of the circle of the first limiting ring 402, seawater will enter the sampling cylinder 5 from the gaps between the five sealing components 401. And because the thickness of the special-shaped bumps 4012 gradually decreases from the position close to the center of the circle of the first limiting ring 402 to the position far from the center of the circle of the first limiting ring 402, when the sealing component 401 is in the sealed state, the five special-shaped bumps 4012 are closely attached to each other in pairs to form a conical shape, which can reduce the resistance of the water flow when the sampling cylinder 5, the driving component 3, and the adjusting component 4 descend as a whole. When the sealing component 401 is in the sampling state, when the special-shaped bumps 4012 flip along with the sealing plates 4011, part of the water flow located outside the bottom of the special-shaped bumps 4012 will be pushed away, and the water flow direction is towards the bottom outside, so that some of the lighter floating objects and waterweeds are carried away by the water flow, reducing the content of floating objects entering the inside of the sampling cylinder 5.

[0048] Please refer specifically to Figure 5 , the opening and closing drive component 405 includes a second motor 4051. The output shaft of the second motor 4051 is fixedly connected with a gear 4052. The top of the second motor 4051 is fixedly connected with the inner top wall of the upper cover 406. The outer teeth of the second motor 4051 are meshed with the inner teeth of the gear ring 4042.

[0049] Specifically, starting the second motor 4051 causes the output shaft of the second motor 4051 to drive the gear 4052 to rotate. Since the outer teeth of the second motor 4051 are meshed with the inner teeth of the gear ring 4042, when the second motor 4051 rotates, it will drive the gear ring 4042 to rotate together. Among them, the upper cover 406, the sealing ring 4041, the gear ring 4042, and the sampling cylinder 5 together form a sealed space to seal the second motor 4051 therein for protection.

[0050] Please refer specifically to Figure 3 , the driving component 3 includes a C-shaped rod 304. The top of one end of the C-shaped rod 304 is fixedly connected with a mounting base 303. The other end of the C-shaped rod 304 is fixedly connected with the bottom of the sealing plate 4011 on the side far from the center of the circle of the first limiting ring 402. The top of the mounting base 303 is rotatably connected with a rotating central axis 301. The circumferences of the rotating central axis 301 are equidistantly fixedly connected with metal bent plates 302.

[0051] Specifically, the metal bent plate 302 is in clearance fit with the baffle 104 in terms of height, and baffles 104 are provided on both sides of the top of the driving assembly 3. The outer diameter formed by the metal bent plate 302 is slightly larger than the distance between two adjacent baffles 104. When the device moves downward in the sea, water flow can flow from between the outer frame body 103 and the fixed seat 105 to the driving assembly 3. The impact of the water flow on the mounting base 303 will cause the metal bent plate 302 to rotate. When the metal bent plate 302 rotates, it will collide with the baffle 104. Among them, the metal bent plate 302 is relatively thin, and it will deform within the elastic range when it collides, and return to its original shape when the impact force of the baffle 104 is lost, so as to ensure that it repeatedly rotates and impacts the baffle 104 to continuously interfere with the surrounding sound. Since the metal itself generates vibration during the recovery process, noise will be generated during the process of rotation impact and shape recovery to drive away the fish groups around the device; when the device moves down to the specified depth, at this time, the adjustment assembly 4 at the bottom of the sampling cylinder 5 needs to be changed to the sampling state so that water enters the inside of the sampling cylinder 5. During the conversion process, as above, the sealing plate 4011 rotates around the first limit shaft 4013 under the drive of the opening and closing drive assembly 405, and at this time, it will drive the entire driving assembly 3 to turn outwards, as Figure 7 shown, the metal bent plate 302 close to the baffle 104 will collide with the side of the baffle 104 to generate noise, and the side of the baffle 104 will continuously squeeze the metal bent plate 302 to generate deformation until it completely passes through the baffle 104. Since the metal bent plate 302 itself has a curvature and the distance between the baffles 104 is slightly smaller than the outer diameter formed by the metal bent plate 302, and it is ensured that the deformation value is within the elastic range of the metal bent plate 302, noise will also be generated during the process of rotation impact and shape recovery in this process to drive away the fish groups around the device.

[0052] On the other hand, the embodiment of the present application also provides an underwater robot seawater sampling method according to the above, including the following steps:

[0053] S1. Control the sampling cylinder 5 to descend: The main drive assembly 2 cooperates with the equal release of the main tow rope 101 to extend the length of the main tow rope 101 so as to gradually deepen the depth of this device in the sea;

[0054] S2. Determine the depth value: Determine whether the descending depth value is the same as the expected value through the cooperation of the depth sensor 6 and the control system;

[0055] S3. Sampling: Start the opening and closing drive assembly 405 to drive the convex limit rod 4043 to rotate, so that the five sealing plates 4011 and the five special-shaped convex blocks 4012 that are tightly fitted and sealed at the bottom of the first limit ring 402 in the sealed state gradually open to become the sampling state, and seawater sampling is carried out;

[0056] S4. Stop sampling: Reverse-start the opening and closing drive assembly 405 to drive the convex limiting rod 4043 to rotate, so that the sealing assembly 401 seals the bottom of the sampling cylinder 5 again, then move to the next specified depth, and then repeat S1 until seawater samples at all specified depths are collected;

[0057] S5. Sampling: Pull up the main towing rope 101 to pull out the device, place the device on top of the sampling and analysis container, then switch the adjustment assembly 4 to the sampling state, discharge the seawater sample and perform data analysis.

[0058] Working principle

[0059] When using this device for seawater sampling, drive the main drive assembly 2 to drive the entire sampling mechanism to descend according to the depth to be sampled, that is, start the first motor 202 to drive the propeller blade 201 to rotate to drive the device to move downward in the seawater. During this downward movement, the main towing rope 101 cooperates with the main drive assembly 2 to release the main towing rope 101 equally to extend the length of the main towing rope 101, thereby gradually increasing the depth of the device in the sea, and then driving the entire sampling mechanism to descend. There are multiple groups of sampling mechanisms, which can separately sample and seal seawater at different depths. When moving to a certain specified depth, open one of the sampling mechanisms for sampling. When moving to the next specified depth, open another unused sampling mechanism for sampling;

[0060] When descending to the specified depth, start the second motor 4051 so that the output shaft of the second motor 4051 drives the gear 4052 to rotate. Since the outer teeth of the second motor 4051 mesh with the inner teeth of the gear ring 4042, when the second motor 4051 rotates, it will drive the gear ring 4042 to rotate together. When the gear ring 4042 rotates, it drives the sealing ring 4041 to rotate synchronously. Since the convex limiting rod 4043 is jointly limited by the gear ring 4042 and the sealing ring 4041, it will drive the convex limiting rod 4043 to rotate as well. And the outer side of the bottom of the convex limiting rod 4043 is rotatably connected to the arc-shaped linkage block 403, so the connection between the arc-shaped linkage block 403 and the convex limiting rod 4043 will shift as the sealing ring 4041 rotates. Since the length of the arc-shaped linkage block 403 is fixed, it will pull the sealing plate 4011 to rotate around the first limiting shaft 4013, as Figure 7As shown, the five sealing plates 4011 and the five special-shaped bumps 4012 that tightly fit and seal the bottom of the first limiting ring 402 in the sealed state gradually open to become the sampling state. When the five sealing components 401 rotate away from the center of the first limiting ring 402, seawater will enter the sampling cylinder 5 through the gaps between the five sealing components 401. Moreover, since the thickness of the special-shaped bumps 4012 gradually decreases from the position close to the center of the first limiting ring 402 to the position far from the center of the first limiting ring 402, when the sealing component 401 is in the sealed state, the five special-shaped bumps 4012 closely fit with each other in pairs to form a conical shape, which can reduce the resistance of the water flow when the sampling cylinder 5, the driving component 3, and the adjusting component 4 descend as a whole. When the sealing component 401 is in the sampling state, when the special-shaped bumps 4012 flip with the sealing plates 4011, part of the water flow located outside the bottom of the special-shaped bumps 4012 will be pushed away, and the water flow direction is towards the bottom outside, so that some of the lighter floating objects and waterweeds are carried away by the water flow, reducing the content of floating objects entering the inner side of the sampling cylinder 5;

[0061] The metal bent plate 302 is in clearance fit with the baffle 104 in height, and baffles 104 are arranged on both sides of the top of the driving component 3. The outer diameter formed by the metal bent plate 302 is slightly larger than the distance between two adjacent baffles 104. When the device moves downward in the sea, the water flow can flow from between the outer frame body 103 and the fixed seat 105 to the driving component 3. The water flow impacts the mounting base 303, which will cause the metal bent plate 302 to rotate. When the metal bent plate 302 rotates, it will collide with the baffle 104. Among them, the metal bent plate 302 is relatively thin, and the metal bent plate 302 will deform within the elastic range when it collides, and return to its original shape when the impact force of the baffle 104 is lost, so as to ensure that the repeated rotation and impact on the baffle 104 continuously interfere with the surrounding by sound. Since the metal itself generates vibration during the recovery process, noise will be generated during the process of rotation impact and shape recovery to drive away the fish schools around the device; when the device moves down to the specified depth, at this time, the adjusting component 4 at the bottom of the sampling cylinder 5 needs to be changed to the sampling state so that water enters the inner side of the sampling cylinder 5. During the conversion process, as above, the sealing plate 4011 rotates around the first limiting shaft 4013 under the drive of the opening and closing drive component 405, and at this time, it will drive the whole driving component 3 to flip outward, as Figure 7 As shown, the metal bent plate 302 close to the baffle 104 will collide with the side of the baffle 104 to generate noise, and the side of the baffle 104 will continuously squeeze the metal bent plate 302 to generate deformation until it completely passes through the baffle 104. Since the metal bent plate 302 itself has a curvature and the distance between the baffles 104 is slightly smaller than the outer diameter formed by the metal bent plate 302, and it is ensured that the deformation value is within the elastic range of the metal bent plate 302, noise will also be generated during the process of rotation impact and shape recovery in this process to drive away the fish schools around the device.

[0062] The above-described embodiments of the specific implementation manner have been described, but this embodiment is not limited to the above specific implementation manner. The above specific implementation manner is merely illustrative rather than restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this embodiment.

Claims

1. An underwater robot seawater sampling device, characterized in that: The invention comprises an outer frame component (1), wherein a sampling mechanism is arranged on the inner side of the outer frame component (1), wherein the sampling mechanism comprises a main drive component (2), a driving component (3), an adjustment component (4) and a sampling barrel (5), wherein the bottom of the main drive component (2) is provided with a sampling barrel (5), the bottom of the outer side of the sampling barrel (5) is provided with an adjustment component (4), and the bottom of the adjustment component (4) is connected to the driving component (3), and when the main drive component (2) drives the sampling barrel (5) to descend to a specified depth, the adjustment component (4) is started to change the bottom of the sampling barrel (5) from a sealed state to a sampling state, thereby sampling seawater at the specified depth; The bottom of the sampling barrel (5) is open, the adjusting component (4) seals the bottom of the sampling barrel (5), the adjusting component (4) comprises an upper sealing cover (406), the upper sealing cover (406) is fixedly sleeved on the outside of the sampling barrel (5), a limiter component (404) is rotatably arranged at the bottom of the upper sealing cover (406), an opening and closing driving component (405) is arranged on the inner side of the upper sealing cover (406), arc-shaped linkage blocks (403) are arranged around the bottom of the limiter component (404), a sealing component (401) is arranged at the bottom of the arc-shaped linkage block (403), and a first limiter ring (402) is fixedly connected to the bottom of the sampling barrel (5); The sealing assembly (401) comprises a sealing plate (4011), and the sealing plate (4011) is respectively fixedly connected with a first limiting shaft (4013) and a second limiting shaft (4014) on two sides away from the center of the first limiting ring (402), the second limiting shaft (4014) is rotatably connected to the arc-shaped linkage block (403), the first limiting shaft (4013) is rotatably connected to the first limiting ring (402), and the bottom of the sealing plate (4011) is fixedly connected with a special-shaped protrusion (4012); Wherein, the thickness of the special-shaped protrusion (4012) gradually decreases from a position close to the center of the first limiting ring (402) to a position far from the center of the first limiting ring (402); The five sealing plates (4011) are closely fitted in pairs to form a disc shape, and the five special-shaped protrusions (4012) are closely fitted in pairs to form a cone shape.

2. The underwater robot seawater sampling device according to claim 1, characterized in that: The outer frame assembly (1) comprises an outer frame (106), the inner side of the outer frame (106) is fixedly connected to an outer frame body (103), the top of the outer frame body (103) is fixedly connected to a balancing traction rope (102) at equal intervals, the top of the balancing traction rope (102) is fixedly connected to a main traction rope (101), the inner side of the outer frame body (103) is fixedly connected to a bracket, the inner side of the bracket of the outer frame body (103) is fixedly connected to a fixing seat (105), the sampling mechanism is mounted on the inner side of the fixing seat (105), the bottom of the outer frame body (103) is fixedly connected to a baffle (104) at equal intervals, the outer frame (106) is fixedly connected to the outer frame body (103) via an arc plate, and the top of the outer frame (106) is mounted with a depth sensor (6).

3. The underwater robot seawater sampling device according to claim 2, characterized in that: The main drive assembly (2) comprises a propeller blade (201), the bottom of the propeller blade (201) is connected to a first motor (202), the output shaft of the first motor (202) is fixedly connected to the top of the propeller blade (201), the outer side of the first motor (202) is rotatably connected to a protective outer box (203), and the protective outer box (203) is fixedly connected to the inner side of the fixing seat (105).

4. The underwater robot seawater sampling device according to claim 3, characterized in that: The top of the sampling cylinder (5) is fixedly connected to the bottom of the protective outer box (203), and the outer side of the sampling cylinder (5) is fixedly connected to the inner side of the fixing seat (105).

5. The underwater robot seawater sampling device according to claim 4, characterized in that: The limiting assembly (404) comprises a sealing ring (4041), wherein the sealing ring (4041) is rotatably connected to the outside of the sampling tube (5), the top of the sealing ring (4041) is fixedly connected to a gear ring (4042), the top of the arc-shaped linkage block (403) close to the sealing ring (4041) is rotatably connected to a convex limiting rod (4043), the gear ring (4042) and the sealing ring (4041) are connected to the convex limiting rod (4043) with a fixing groove, and the top of the gear ring (4042) is rotatably connected to the bottom of the upper cover (406).

6. The underwater robot seawater sampling device according to claim 5, characterized in that: The opening and closing drive assembly (405) comprises a second motor (4051), the output shaft of the second motor (4051) is fixedly connected to a gear (4052), the top of the second motor (4051) is fixedly connected to the inner top wall of the upper cover (406), and the outer teeth of the second motor (4051) are meshed with the inner teeth of the gear ring (4042).

7. The underwater robot seawater sampling device according to claim 6, characterized in that: The driving assembly (3) comprises a C-shaped rod (304), the top of one end of the C-shaped rod (304) is fixedly connected to a mounting base (303), the other end of the C-shaped rod (304) is fixedly connected to the bottom of the sealing plate (4011) on a side away from the center of the first limiting ring (402), the top of the mounting base (303) is rotatably connected to a rotating central axis (301), and the circumference of the rotating central axis (301) is fixedly connected to metal bent plates (302) at equal intervals.

8. A method for sampling seawater using an underwater robot, according to an underwater robot sampling device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, controlling the sampling tube (5) to descend: the main driving component (2) cooperates to release the main traction rope (101) in equal amounts to extend the length of the main traction rope (101) so as to gradually deepen the depth of the device in the sea; S2, determining the depth value: determining whether the descent depth value is the same as the expected value by means of the depth sensor (6) in cooperation with the control system; S3, sampling: starting the opening and closing driving assembly (405) to drive the convex limiting rod (4043) to rotate so that the five sealing plates (4011) and the five special-shaped protrusions (4012) which are tightly fitted and sealed at the bottom of the first limiting ring (402) in the sealed state gradually open to the sampling state, and perform seawater sampling; S4, stop sampling: reversely start the opening and closing drive assembly (405) to drive the convex limit rod (4043) to rotate so that the sealing assembly (401) seals the bottom of the sampling tube (5) again, and then moves to the next specified depth, and then repeats S1 until all seawater samples at the specified depth are collected; S5, sampling: pull up the main traction rope (101) to pull out the device, place the device on the top of the sampling and analysis container, and then switch the adjustment component (4) so ​​that the sampling tube (5) changes to the sampling state, take out the seawater sample and perform data analysis.

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